On March 11, 2002 We Are Family: A Musical Message for All children's music video aired in its entirety as a Public Service Announcement (PSA) and was simulcast on the Disney Channel, Nickelodeon and PBS, marking the 6-month anniversary of 9/11 and teaching more than 10 million viewers that "we are family."

The PSA features over 100 favorite children's TV characters singing "We Are Family," including Barney, Big Bird, Elmo, Miss Piggy, Arthur, Jimmy Neutron, Winnie-the-Pooh, Dora, SpongeBob SquarePants and many more. Additional guest appearances include Bill Cosby, Whoopie Goldberg and Diana Ross.

The WAFF Music Video continues to air as a PSA today, helping children all over the world learn about the global family. The We Are Family Teacher's Curriculum Guide, developed by the Anti-Defamation League, was created to complement the music video and teach tolerance to children in grades K–6. It is available for download.